Work Inside The Manipulator's Working Range - ABB IRB 140 type C Product Manual

1.2.3.7. Work inside the manipulator's working range

WARNING!
If work must be carried out within the robot's work envelope, the following points must be
observed:
3HAC027400-001 Revision: C
• The operating mode selector on the controller must be in the manual mode position to
render the enabling device operative and to block operation from a computer link or
remote control panel.
•
The robot's speed is limited to max. 250 mm/s when the operating mode selector is in
position "manual mode with reduced speed". This should be the normal position when
entering the working space. The position "manual mode with full speed (100%)" may
only be used by trained personnel who are aware of the risks that this entails.
•
Pay attention to the rotating axes of the manipulator! Keep a distance to the axes in
order not to get entangled with hair or clothing. Also be aware of any danger that may
be caused by rotating tools or other devices mounted on the manipulator or inside the
cell.
• Test the motor brake on each axis, according to section
1.2.3.7. Work inside the manipulator's working range
1 Safety
Brake testing on page 24.
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